Output regulation for over-actuated linear systems via inverse model allocation

Author

Serrani, Andrea

Author_Institution

Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH, USA

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

4871

Lastpage

4876

Abstract

The synthesis of a full-information regulator for over-actuated linear systems is considered in this paper. Over-actuation with injective input maps allows for redundancy in the steady-state trajectory in the state space compatible with a given reference output. This type of redundancy is completely characterized by means of geometric techniques and the results of the analysis are used to define an extended servomechanism that allows allocation of the reference trajectory in the state space to optimize certain cost functionals while maintaing invariance of the error-zeroing subspace. Examples of linear static and nonlinear dynamic allocation strategies are presented.

Keywords

control system synthesis; linear systems; servomechanisms; error-zeroing subspace; extended servomechanism; full-information regulator synthesis; geometric technique; inverse model allocation; linear static allocation strategy; nonlinear dynamic allocation strategy; output regulation; over-actuated linear system; reference trajectory allocation; steady-state trajectory; Cost function; Redundancy; Regulators; Resource management; Servomechanisms; Steady-state; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426209

Filename

6426209